Chain of Hinges Physics
I have failed to give the rigid body enough accuracy for this kind of shape :



So the idea was to use an intermediate simple object : a cube.



The chain is composed with constraints and parenting.


The parenting :


Each element of the chain is parented to a cube and each empty is parented to the previous (to the right) cube.




Constraints :


Each empty is a hinge constraint connecting the previous and next cube. Don't forget to orientate each empty with the Z along the rotation axis.